EP2237063B1 - Capteur optique selon le principe de temps de vol - Google Patents

Capteur optique selon le principe de temps de vol Download PDF

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Publication number
EP2237063B1
EP2237063B1 EP09004763A EP09004763A EP2237063B1 EP 2237063 B1 EP2237063 B1 EP 2237063B1 EP 09004763 A EP09004763 A EP 09004763A EP 09004763 A EP09004763 A EP 09004763A EP 2237063 B1 EP2237063 B1 EP 2237063B1
Authority
EP
European Patent Office
Prior art keywords
rotor
sensor
detector
test
light pulses
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP09004763A
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German (de)
English (en)
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EP2237063A1 (fr
Inventor
Uwe Satzky
Ernst Tabel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pepperl and Fuchs SE
Original Assignee
Pepperl and Fuchs SE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=41051065&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2237063(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Pepperl and Fuchs SE filed Critical Pepperl and Fuchs SE
Priority to AT09004763T priority Critical patent/ATE545041T1/de
Priority to EP09004763A priority patent/EP2237063B1/fr
Priority to US12/748,812 priority patent/US8300215B2/en
Priority to AT10003445T priority patent/ATE526593T1/de
Priority to EP10003445A priority patent/EP2237064B1/fr
Priority to JP2010080175A priority patent/JP2010249812A/ja
Publication of EP2237063A1 publication Critical patent/EP2237063A1/fr
Publication of EP2237063B1 publication Critical patent/EP2237063B1/fr
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B19/00—Condensers, e.g. light collectors or similar non-imaging optics
    • G02B19/0033—Condensers, e.g. light collectors or similar non-imaging optics characterised by the use
    • G02B19/0085—Condensers, e.g. light collectors or similar non-imaging optics characterised by the use for use with both a detector and a source
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors

Definitions

  • the present invention relates to an optical sensor according to the transit time principle according to the preamble of claim 1.
  • a generic optical sensor is for example in EP 1 378 763 A1 described and has the following components.
  • a light source for emitting transmitted light pulses in a monitoring area
  • a rotating device for rotating a beam direction of the transmitted light pulses about a rotational axis oriented transversely to the beam direction
  • a detector for detecting light pulses which are reflected back from objects in the monitoring area
  • a control and evaluation unit for driving the Light source, for evaluating the detected by the detector light pulses and for determining an object distance due to a measured transit time of the light pulses.
  • Generic devices are used for navigating, for example, forklifts, this often with the aid of reflectors or absorbers, which are attached to defined locations in the environment. In principle, however, a navigation without reflectors is possible, with the respective circumstances the environment can be read into the evaluation unit in a learning phase.
  • Sensors of the type described are basically known and differ essentially with regard to the range, the scan area and the measured value processing used in each case. A particularly important difference is the scanning range, which in known devices is either about 180 ° or 360 °.
  • a rotating mirror is used to reflect the laser beam in a measuring plane.
  • the laser radiates in the axis of rotation and the receiver receives in the same axis the laser light reflected back from an object.
  • the mirror tilted by 45 ° mirrors the light exactly at right angles in the direction of the surveillance area, ie the measurement plane, or from the surveillance area in the direction of the receiver.
  • the angle of incidence of the laser light on the mirror is not the same for all rotational positions of the mirror.
  • the rotating laser beam therefore wobbles about a plane perpendicular to the axis of rotation of the mirror. It is said that the beam has a wobble error.
  • the mounting of the mirror is generally the greatest difficulty.
  • the mirror is attached to the mechanical arrangement at the bottom, it is difficult to irradiate the laser light in the axis of rotation on the mirror.
  • the mirror is fastened and hung up at the top, there are problems with the mounting and arrangement of the drive as a whole, since this generally has to be done via a kind of boom. This creates a blind spot at the location of the gallows, where the voltage and mechanical support for the motor is led upwards, and so designed sensors are not able to measure all around, so can not over the full 360 ° environment scanning.
  • an object of the invention can be considered to provide an optical sensor according to the transit time principle, in which a technically simple means a scan range of 360 ° is made possible.
  • DE 10 2004 014 041 A1 discloses a sensor according to the transit time principle. Radiation reflected back from a monitoring area can be detected with two different detectors.
  • optical sensor having the features of claim 1.
  • the optical sensor of the type described above is inventively further developed in that the rotating means comprises a rotor and a stator and that the light source, the detector and an electronic assembly, which is part of the control and evaluation, are arranged for common rotation on the rotor ,
  • Another significant advantage is that the existing difficulties of the drive are excluded. Regardless of where the rotor is driven, it does not interfere with the metering system - and even a blind spot can be ruled out because no electrical or mechanical components need to be mounted above the metering system.
  • Another important improvement is that the positioning of light source and detector on the rotor very compact structures are possible, and in particular long optical paths can be avoided.
  • the optical paths can thereby be significantly shortened. Overall, significantly less space is required and the overall device can therefore be made smaller. Due to the compact design, the air turbulence during rotation can also be reduced and thus higher rotational frequencies are possible.
  • the light pulses reflected back from the monitoring area can be guided and focused onto the detector with the aid of lenses.
  • a mirror which is likewise mounted on the rotor, is provided on the detector as an optical means for guiding the light pulses reflected back by objects in the monitoring area.
  • a concave mirror is used as the mirror, with particularly good focusing properties being possible with a parabolic mirror.
  • a lightweight component can be achieved if the concave mirror is provided with a coating plastic molding.
  • the components are formed as easily as possible and, moreover, are arranged as close as possible to the axis of rotation, ie with the smallest possible moment of inertia. Higher rotational speeds and thus higher sampling rates of the environment are then easier.
  • a permanent magnet is expediently arranged on the rotor, which can be driven by arranged on the stator coils.
  • the permanent magnet on the rotor acts like a rotor of an electric motor.
  • the energy required to operate the light source, the detector and the assembly of the control and evaluation unit is transmitted from the stator to the rotor without contact.
  • This can be useful in a further preferred variant of the sensor according to the invention be effected in that between the stator and the rotor, a transformer section for transmitting energy from the stator to the rotor is present.
  • this transformer section can also be used for transmitting information. For example, configuration and / or control data from the stationary part, ie from the stator to the moving part, ie the rotor, on which parts of the control and evaluation unit are arranged, are transmitted. In principle, low data rates are sufficient for this.
  • a transmission of the measured data determined via the detector to the outside could basically be done by electrical means.
  • an optical transmission path is formed for transmitting data from the rotor to the stator between rotor and stator.
  • this can be a transmission path which allows data transport only in one direction, namely from the rotor to the stator.
  • at least one suitable light source for example a light-emitting diode, is present on the stator, the modulated signals of which are detected by one or more photodiodes or photodiodes suitably positioned on the stator.
  • this optical transmission path can also be designed for bidirectional data exchange, in which case at least one light source and at least one photodetector are present on both sides.
  • the rotor and the stator are expedient accommodated in a housing resting relative to the stator.
  • the housing is preferably formed largely closed and has a, in particular rotating, cutting disc on.
  • transparency in this case should be understood as permeability to the light of the light source used. This does not necessarily mean that the inside of the sensor is visible from the outside.
  • the transparent region may be a circumferential region of red plastic which is transparent to the wavelength of the laser used.
  • optical sensors In such optical sensors must then be ensured that the beam of the light source, so for example, the laser beam, the object to be detected, actually hits. If, for any reason, the laser beam is excessively damped or may fail completely, it must be detected by the sensor and communicated to an operator or higher-level control. Otherwise, situations may arise where no objects are detected incorrectly, even though one or more objects actually exist.
  • the functionality of the laser itself can be monitored well.
  • the cutting disk may in particular be formed circumferentially, that is, it extends over the entire rotational or scanning range of 360 °.
  • At least one test detector which is arranged on the rotor is present for testing an optical transmission of the cutting disk.
  • the test detector is aligned with passage areas of the cutting disk through which the transmitted light pulses and / or the reflected light pulses pass.
  • a test light source is also provided, which is also arranged on the rotor, and outside the housing, at least one reflector element is arranged, on which the test light is aligned.
  • the test detector is positioned so that test light reflected back from the reflector element can be detected.
  • a particularly large area of the windshield can be checked with regard to the optical transmission in a further variant of the optical sensor according to the invention, in which the test light emerges through the cutting disc in a first region from the sensor interior to the outside and the test light reflected back from the reflector element by the cutting disc enters the sensor interior again from the outside in a second area that is different from the first area.
  • the signal actually measured by the test detector then goes both the properties of the cutting wheel in the first region as well as the properties of the cutting wheel in the second region, so that this measurement method is sensitive to both areas.
  • the first and the second region may, for example, be offset from one another in terms of height, so that the respective rays have a different distance from the axis of rotation, that is to say to the center of rotation. This can also be referred to as centric offset.
  • the reliability of the optical sensor according to the invention can be significantly increased by these measures.
  • an annular mirror or segments thereof may be present.
  • the above-described central offset can be achieved particularly elegantly when a circular-shaped profile or segments thereof having a triangular cross-section made of a transparent material is used as the reflector element.
  • the test light is reflected by internal reflection at this triangular profile as on a beam deflector basically known from optics.
  • the test light source is preferably operated pulsed.
  • test light sources and / or associated test detectors for example on opposite sides of the rotor, may also be present.
  • means for expanding the beam of the test light source may also be present. Since the test light source and the test detector rotate, widening or widening in the direction of rotation does not matter, but only widening in a direction perpendicular thereto. Therefore, the use of asymmetric lenses or cylindrical lenses can be advantageous for this purpose.
  • the reflector element is mounted under an overhang of the housing and is characterized particularly well protected against mechanical damage and / or contamination.
  • the light source is housed in a molded-on to the plastic molded part recording
  • a particularly compact structure and a particularly close-to-axis arrangement of the various components is made possible in a further embodiment of the invention, in which in the plastic molded part in which the mirror is formed, receptacles are formed, in which the detector, the test light source, the test detector and / or at least one electronic module are housed as part of the control and evaluation unit.
  • the optical sensor 100 according to the invention shown there schematically has, as essential components, a light source 20, a detector 50 and an electronic assembly 92 which is part of a control and evaluation unit 90. Furthermore, a concave mirror 28 is present, which is formed as a coating 29 on a plastic molded part 27. In this plastic molded part 27 are suitable receptacles, which in the Fig. 1 are not shown in detail, also the light source 20, the detector 50 and the electronic assembly 92 recorded.
  • the plastic molded part 27 is mounted with the components arranged thereon on a rotor 40 which is rotatably arranged relative to a stator 30.
  • the entire structure is housed in a housing 60 with bottle-shaped profile, wherein the rotor 40 by means of ball bearings 42, 44 with respect to a rotation axis 46 is rotatable.
  • a permanent magnet 48 is also fixedly mounted, which can be driven by arranged on the stator 30 coils 38 according to the principle of an electric motor.
  • a transformer section To transfer energy from the stator 30 on the rotor 40 is formed by coils 72, 74, a transformer section. Basically, albeit with only a comparatively low data rate, for example, configuration and / or control data can be sent to the transformer via this transformer path
  • Light source 20, the detector 50 and / or the electronic module 92 are transmitted.
  • the housing 60 which can also be referred to as a hood, serves on the one hand to separate a sensor interior 68 from the environment and in particular to protect it against contamination and mechanical damage. Another purpose of the housing 60 is to protect operators from exposure to the rotor 40, which rotates rapidly, for example at rotational frequencies of over 3000 revolutions per minute.
  • an optical transmission path arranged axially on the rotation axis 46 is formed by a light-emitting diode 78 and a photodiode 76.
  • the data rate over the optical transmission path from the rotor to the stator is for example 100 MBaud.
  • the housing 60 has a cutting disc 66, which can also be referred to as a transparent area.
  • the cutting disk 66 does not have to be a separate component, but instead, as in the example shown, it may be formed in one piece with the rest of the housing 60. It is only essential for this that the housing 60 at least in an exit region 61, in the light pulses 22 of the light source 20 must come to the outside, and also in areas 62, 64, in which pass back from an object 10 light pulses 26 back into the sensor interior 68 must be transparent to the wavelengths used.
  • a laser diode is used, which emits at 660 nm, ie in the dark red area.
  • a test light source 54 which is a light-emitting diode in the example shown, and a test detector 52 are also arranged on the rotor 40.
  • the test light source 54 and the test detector 52 may in particular also be positioned in receptacles which are formed in the plastic molded part 27.
  • suitable optical means for example lenses, may be present for focusing the test light onto the test detector 52.
  • the test light source 54 is positioned so that emitted test light 53 passes through the cutting disc 66 in a first region 64 and then encounters a reflector element 80, from which it is deflected and irradiated back toward the housing 60.
  • the reflector element is an annular profile 82 with a triangular cross-section, which is made of a transparent plastic.
  • the test light 53 is deflected by the reflector element 80 by two internal reflection by 180 °, wherein the reflected test light 55, the geometry of the reflector element 80 is accordingly offset slightly centrally outwards.
  • the reflected test light 55 re-enters the sensor interior 68 in a second region 62 and then arrives at the test detector 52 which is suitably positioned for this purpose and detects this test light 55.
  • the test detector 52 detects whether the surfaces of the blade 66 are dirty or the blade 66 is damaged, such as cracked or cracked. If the surfaces of the blade 66 are dirty or the blade 66 is damaged, such as cracked or cracked, this is detected by the test detector 52 as a reduced intensity of the test light.
  • the intensity of the test light 53, 55 measured by the test detector 52 is evaluated in the control and evaluation unit 90 and in the event that the measured intensities are below a threshold value to be determined, the measurement data then obtained are not taken into account in the evaluation.
  • the light source 20 is sunk in a tube 21, which is likewise integrally formed on the plastic molded part 27.
  • a significant advantage of the optical sensor according to the invention is that particularly compact and in particular axially close arrangements are possible by the common arrangement of light source, mirror, detector and evaluation on the rotor.
  • This unit of transmitter, mirror, receiver and electronics can significantly reduce air turbulence, which is a limiting factor for the maximum achievable rotation speeds.
  • a further particular advantage of the variant of an optical sensor 100 according to the invention described here is that the monitoring of the windshield 66 can take place circumferentially, in principle over the complete angular range of 360 °, since the test source 54 as well as the test detector 52 are on the rotor 40 and rotate in the operation of the sensor 100.
  • the first region 64 and the second region 62 therefore fall depending on the rotational state of the rotor 40 on each other points of the windshield 66.
  • Another significant advantage is the fact that the first region 64 and the second region 62 do not coincide and thus a particular large area of the cutting disk 66 is taken into account in the evaluation with regard to possible contamination.
  • an advantage of the exemplary embodiment of an optical sensor according to the invention described here is that the cutting disk 66 no longer has to be curved. Since the light source 20 can therefore be positioned practically directly in front of an exit region 61 of the housing 60, practically no internal reflections can occur in the region of the exit region 61 of the transmitted light pulses 22. A self-glare is therefore excluded.
  • the cutting disc 66 can be formed in a simple cylindrical shape.
  • annular profile 82 which forms the reflector element 80 is mounted below an overhang 63 of the housing 60 and is therefore particularly well protected against mechanical action and thus from damage from the outside.
  • a test light beam is transmitted obliquely through the substantially cylindrical outer cutting disc, which is also referred to as a transparent area.
  • This jet hits the reflection means at the top or bottom, for example the annular mirror or the annular profile, and is sent back offset in parallel.
  • the blade is examined in two places with regard to possible contamination. This means that the measured distance data are only validated if both areas through which the test light penetrates are sufficiently clean.
  • the optical sensor according to the invention operates as follows:
  • the light source 20 operates in principle similar to known laser pointers and emits, for example, per second 250,000 transmitted light pulses 22 at a wavelength of 660 nm, ie in the dark red spectral range.
  • the transmitted light pulses 22 are thereby collimated into a parallel beam.
  • the transmitted light pulses 22 are emitted in a beam direction 24 that is oriented perpendicular to the axis of rotation 46 of the optical sensor 100.
  • the transmitted light pulses 22 strike an object 10 in the monitoring area 12, they are reflected back by this object 10 as light pulses 26 and pass through the front screen 66 back into the sensor interior 68 and there to the concave mirror 28.
  • the detector 50 is relative to the concave mirror 28 so positioned so that the reflected light pulses 26 can be detected as completely as possible in the detector 50.
  • the control and evaluation unit 90 which in Fig. 1 is not shown in further detail and of which in particular parts may be located outside the housing 60, controls the light source 20, evaluates the detected by the detector 50 light pulses 26 and determined from the measured transit times a distance of a detected object 10th Rotation of the beam direction 24 of the transmitted light pulses 22, the beam direction 24 is then moved in a plane and the inventive optical sensor 100 can record in this way a profile of its environment.
  • optical sensor according to the invention can be dispensed with these additional sensors for a variety of applications due to the increased rotational speed and thereby significant cost reductions are possible.
  • An optical sensor according to the invention could for example be mounted on a bridge and determine the profiles or contours of the vehicles passing under the bridge. Since these profiles are usually very distinctive for the different types of vehicles, it can be determined at what time a certain type of vehicle passed the bridge in question.
  • a novel two-dimensional optical measuring sensor is described according to the transit time principle, in which a particularly elegant way of monitoring the entire rotational range of 360 ° is possible. This is made possible by the fact that in the optical sensor no independently rotating mirror is present, the holder would create a blind spot.
  • the optical sensor described here rotates the complete measuring unit, ie a unit that contains the light source, the detector, the mirror and parts of the measuring electronics.
  • the energy required for the light source, the detector and the electronics is transmitted contactlessly from the stator to the rotor, which is also called a measuring head.
  • the data transmission from the rotor to the stationary part of the sensor which is also referred to as a stator, without contact, in particular via an optical transmission path.

Claims (14)

  1. Capteur optique selon le principe du temps de vol
    avec une source de lumière (20) pour envoyer des impulsions lumineuses émises (22) dans une zone de surveillance (12),
    avec un dispositif rotatif pour faire tourner une direction de rayon (24) des impulsions lumineuses émises (22) autour d'un axe de rotation (46) orienté transversalement à la direction de rayon (24),
    avec un détecteur (50) pour détecter des impulsions lumineuses (26) qui sont réfléchies par des objets (10) situés dans la zone de surveillance (12), et avec une unité (90) de commande et d'analyse pour commander la source lumineuse (20), pour analyser les impulsions lumineuses (26) détectées par le détecteur (50) et pour déterminer la distance d'un objet à partir d'un temps de vol mesuré des impulsions lumineuses (26),
    dans lequel le dispositif rotatif présente un rotor (40) et un stator (30), et dans lequel la source lumineuse (20), le détecteur (50) et un sous-ensemble électronique (92) qui fait partie de l'unité (90) de commande et d'analyse sont placés sur le rotor (40) en vue d'une rotation commune,
    dans lequel, pour envoyer sur le détecteur (50) les impulsions lumineuses (26) réfléchies par des objets (10) situés dans la zone de surveillance (12), il est prévu un miroir concave (28) placé sur le rotor (40),
    caractérisé
    en ce que le miroir concave (28) est formé d'un revêtement (29) sur une pièce moulée (27) en matière plastique, et
    en ce que la source lumineuse (20) est placée dans un logement (21) formé sur la pièce moulée (27) en matière plastique.
  2. Capteur selon la revendication 1,
    caractérisé
    en ce que sur le rotor (40) est monté un aimant permanent (48) qui peut être entraîné par des bobines (38) placées sur le stator (30).
  3. Capteur selon la revendication 1 ou 2,
    caractérisé
    en ce qu'entre le stator (30) et le rotor (40) se trouve une ligne de transformateurs (72, 74) pour transmettre de l'énergie du stator (30) au rotor (40).
  4. Capteur selon l'une quelconque des revendications 1 à 3,
    caractérisé
    en ce que , pour transmettre des données du rotor (40) au stator (30), une ligne de transmission optique (76, 78) est formée entre rotor (40) et stator (30).
  5. Capteur selon la revendication 4,
    caractérisé
    en ce que la ligne de transmission optique (76, 78) est formée sur l'axe de rotation (46) du rotor (40).
  6. Capteur selon l'une quelconque des revendications 1 à 5,
    caractérisé
    en ce que le miroir concave (28) est un miroir parabolique.
  7. Capteur selon l'une quelconque des revendications 1 à 5,
    caractérisé
    en ce que le rotor (40) et le stator (30) sont logés dans un boîtier (60) immobile par rapport au stator (30) et
    en ce que le boîtier (60) comprend un disque séparateur (66) qui est transparent aux impulsions lumineuses émises (22) et aux émissions lumineuses réfléchies (26).
  8. Capteur selon la revendication 6,
    caractérisé
    en ce que , pour vérifier une transparence optique de la plaque séparatrice (66), au moins un détecteur de test (52) est présent, qui est placé sur le rotor (40), en ce que le détecteur de test (52) est dirigé vers des zones de traversée (61, 62, 64) de la plaque séparatrice (66) à travers lesquelles passent les impulsions lumineuses émises (22) et/ou les impulsions lumineuses réfléchies (26),
    en ce que, pour délivrer la lumière de test (53), il est prévu une source lumineuse de test (54) qui est également placée sur le rotor (40),
    en ce qu'à l'extérieur du boîtier (60) est placé au moins un élément réflecteur (80) sur lequel est envoyée la lumière de test (53), et
    en ce que le détecteur de test (52) est positionné pour détecter la lumière de test (55) réfléchie par l'élément réflecteur (80).
  9. Capteur selon la revendication 8,
    caractérisé
    en ce que la lumière de test (53) sort de l'intérieur (68) du capteur vers l'extérieur à travers la plaque séparatrice (66) dans une première zone (64) et
    en ce que la lumière de test (55) réfléchie par l'élément réflecteur (80) rentre de l'extérieur dans l'intérieur (68) du capteur à travers la plaque séparatrice (66) dans une deuxième zone (62) différente de la première zone (64).
  10. Capteur selon la revendication 8 ou 9,
    caractérisé
    en ce que la source lumineuse de test (54) est agencée pour un fonctionnement pulsé.
  11. Capteur selon l'une quelconque des revendications 8 à 10,
    caractérisé
    en ce que l'élément réflecteur (80) comprend un miroir de forme circulaire-annulaire ou un profilé circulaire-annulaire (82) de section triangulaire, en particulier en matière plastique transparente.
  12. Capteur selon l'une quelconque des revendications 8 à 11,
    caractérisé
    en ce que l'élément réflecteur (80) est monté sous une collerette (63) du boîtier (60).
  13. Capteur selon l'une quelconque des revendications 8 à 12,
    caractérisé
    en ce que , dans la pièce moulée en matière plastique (27), sont formés des logements dans lesquels sont reçus la source lumineuse de test (54), le détecteur de test (52) et/ou le sous-ensemble électronique (92).
  14. Capteur selon l'une des revendications 1 à 13,
    caractérisé
    en ce que dans la pièce moulée (27) en matière plastique est formé un logement dans lequel est logé le détecteur (50).
EP09004763A 2009-03-31 2009-03-31 Capteur optique selon le principe de temps de vol Active EP2237063B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
AT09004763T ATE545041T1 (de) 2009-03-31 2009-03-31 Optischer sensor nach dem laufzeitprinzip
EP09004763A EP2237063B1 (fr) 2009-03-31 2009-03-31 Capteur optique selon le principe de temps de vol
US12/748,812 US8300215B2 (en) 2009-03-31 2010-03-29 Optical sensor operating on the transit time principle
EP10003445A EP2237064B1 (fr) 2009-03-31 2010-03-30 Capteur optique selon le principe de temps de vol
AT10003445T ATE526593T1 (de) 2009-03-31 2010-03-30 Optischer sensor nach dem laufzeitprinzip
JP2010080175A JP2010249812A (ja) 2009-03-31 2010-03-31 走行時間原理で動作する光センサ

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09004763A EP2237063B1 (fr) 2009-03-31 2009-03-31 Capteur optique selon le principe de temps de vol

Publications (2)

Publication Number Publication Date
EP2237063A1 EP2237063A1 (fr) 2010-10-06
EP2237063B1 true EP2237063B1 (fr) 2012-02-08

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EP10003445A Active EP2237064B1 (fr) 2009-03-31 2010-03-30 Capteur optique selon le principe de temps de vol

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US (1) US8300215B2 (fr)
EP (2) EP2237063B1 (fr)
JP (1) JP2010249812A (fr)
AT (2) ATE545041T1 (fr)

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EP2482094B1 (fr) * 2011-01-31 2013-06-12 Sick AG Capteur optoélectronique mesurant l'éloignement et procédé de détection d'objet
EP2508914B1 (fr) * 2011-04-05 2013-12-04 Sick AG Dispositif de détection optique
EP2530485A1 (fr) 2011-05-31 2012-12-05 Pepperl & Fuchs GmbH Capteur optique de vérification d'objets et procédé d'affichage optique d'informations
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DE102014101312B3 (de) 2014-02-04 2014-12-04 Sick Ag Optoelektronischer Sensor und Verfahren zur Erfassung von Objekten in einem Überwachungsbereich
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EP3032278B1 (fr) * 2014-12-11 2017-03-22 Sick Ag Capteur optoélectronique
US10139476B2 (en) * 2016-01-21 2018-11-27 Institut National D'optique Rotary scanner, opto-mechanical assembly therefore, and method of modifying an elevation angle of an optical beam
JP6673716B2 (ja) * 2016-02-22 2020-03-25 株式会社キーエンス 安全スキャナ
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DE102017125686A1 (de) 2017-11-03 2019-05-09 Pepperl + Fuchs Gmbh Optischer Scanner
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DE102018202252A1 (de) * 2018-02-14 2019-08-14 Robert Bosch Gmbh LiDAR-System, Betriebsverfahren für ein LiDAR-System und Arbeitsvorrichtung
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Also Published As

Publication number Publication date
JP2010249812A (ja) 2010-11-04
ATE545041T1 (de) 2012-02-15
EP2237064A1 (fr) 2010-10-06
US8300215B2 (en) 2012-10-30
ATE526593T1 (de) 2011-10-15
EP2237063A1 (fr) 2010-10-06
US20100245801A1 (en) 2010-09-30
EP2237064B1 (fr) 2011-09-28

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